/**
 ******************************************************************************
 *
 * @file       pios_board.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#ifndef PIOS_BOARD_H
#define PIOS_BOARD_H
// ------------------------
// Timers and Channels Used
// ------------------------
/*
   Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
   ------+-----------+-----------+-----------+----------
   TIM1  |  Servo 4  |           |           |
   TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |
   TIM3  |  Servo 5  |  RC In 2  |  RC In 3  |  RC In 4
   TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
   ------+-----------+-----------+-----------+----------
 */

// ------------------------
// DMA Channels Used
// ------------------------
/* Channel 1  -                                 */
/* Channel 2  -                                 */
/* Channel 3  -                                 */
/* Channel 4  -                                 */
/* Channel 5  -                                 */
/* Channel 6  -                                 */
/* Channel 7  -                                 */
/* Channel 8  -                                 */
/* Channel 9  -                                 */
/* Channel 10 -                                 */
/* Channel 11 -                                 */
/* Channel 12 -                                 */

// ------------------------
// BOOTLOADER_SETTINGS
// ------------------------
#define BOARD_READABLE        true
#define BOARD_WRITABLE        true
#define MAX_DEL_RETRYS        3

// ------------------------
// WATCHDOG_SETTINGS
// ------------------------
#define PIOS_WATCHDOG_TIMEOUT 400
#define PIOS_WDG_REGISTER     RTC_BKP_DR4
#define PIOS_WDG_SYSTEM       0x0001
#define PIOS_WDG_GPS          0x0002
#define PIOS_WDG_MAG          0x0004

// ------------------------
// TELEMETRY
// ------------------------
// #define TELEM_QUEUE_SIZE         20

// ------------------------
// PIOS_LED
// ------------------------
#define PIOS_LED_HEARTBEAT    0

// -------------------------
// System Settings
// -------------------------
#define PIOS_MASTER_CLOCK     48000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)

// -------------------------
// Interrupt Priorities
// -------------------------
#define PIOS_IRQ_PRIO_LOW     12              // lower than RTOS
#define PIOS_IRQ_PRIO_MID     8               // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH    5               // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
// ------------------------
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS     1
extern uint32_t pios_i2c_gps_id;
#define PIOS_I2C_GPS          (pios_i2c_gps_id)

// -------------------------
// SPI
//
// See also pios_board.c
// -------------------------
#define PIOS_SPI_MAX_DEVS   0

// -------------------------
// PIOS_USART
// -------------------------
#define PIOS_USART_MAX_DEVS 1

// -------------------------
// PIOS_COM
//
// See also pios_board.c
// -------------------------
#define PIOS_COM_MAX_DEVS  1
extern uint32_t pios_com_main_id;
#define PIOS_COM_TELEM_USB pios_com_main_id
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)

#define PIOS_COM_DEBUG     (pios_com_main_id)
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */

// -------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z
// PIOS_ADC_PinGet(1) = Gyro Y
// PIOS_ADC_PinGet(2) = Gyro X
// -------------------------
// #define PIOS_ADC_OVERSAMPLING_RATE		1
#if 0
#define PIOS_ADC_USE_TEMP_SENSOR         1
#define PIOS_ADC_TEMP_SENSOR_ADC         ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1

#define PIOS_ADC_PIN1_GPIO_PORT          GPIOA                   // PA4 (Gyro X)
#define PIOS_ADC_PIN1_GPIO_PIN           GPIO_Pin_4              // ADC12_IN4
#define PIOS_ADC_PIN1_GPIO_CHANNEL       ADC_Channel_4
#define PIOS_ADC_PIN1_ADC                ADC2
#define PIOS_ADC_PIN1_ADC_NUMBER         1

#define PIOS_ADC_PIN2_GPIO_PORT          GPIOA                   // PA5 (Gyro Y)
#define PIOS_ADC_PIN2_GPIO_PIN           GPIO_Pin_5              // ADC123_IN5
#define PIOS_ADC_PIN2_GPIO_CHANNEL       ADC_Channel_5
#define PIOS_ADC_PIN2_ADC                ADC1
#define PIOS_ADC_PIN2_ADC_NUMBER         2

#define PIOS_ADC_PIN3_GPIO_PORT          GPIOA                   // PA3 (Gyro Z)
#define PIOS_ADC_PIN3_GPIO_PIN           GPIO_Pin_3              // ADC12_IN3
#define PIOS_ADC_PIN3_GPIO_CHANNEL       ADC_Channel_3
#define PIOS_ADC_PIN3_ADC                ADC2
#define PIOS_ADC_PIN3_ADC_NUMBER         2

#define PIOS_ADC_NUM_PINS                3

#define PIOS_ADC_PORTS                   { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
#define PIOS_ADC_PINS                    { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
#define PIOS_ADC_CHANNELS                { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING                 { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
#define PIOS_ADC_CHANNEL_MAPPING         { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
#define PIOS_ADC_NUM_CHANNELS            (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_ADC_CHANNELS        2
#define PIOS_ADC_USE_ADC2                1
#define PIOS_ADC_CLOCK_FUNCTION          RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
#define PIOS_ADC_ADCCLK                  RCC_PCLK2_Div8
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
#define PIOS_ADC_SAMPLE_TIME             ADC_SampleTime_239Cycles5
/* Sample time: */
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
/* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */
#define PIOS_ADC_IRQ_PRIO                PIOS_IRQ_PRIO_LOW

// Currently analog acquistion hard coded at 480 Hz
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE                    (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
#define PIOS_ADC_MAX_OVERSAMPLING        36

#define PIOS_ADC_TEMPERATURE_PIN         0
#endif // if 0

// --------------------------
// Timer controller settings
// --------------------------
#define PIOS_TIM_MAX_DEVS 3

// -------------------------
// GPIO
// -------------------------
#define PIOS_GPIO_PORTS   {}
#define PIOS_GPIO_PINS    {}
#define PIOS_GPIO_CLKS    {}
#define PIOS_GPIO_NUM     0

#define PIOS_USB_ENABLED  0

#endif /* PIOS_BOARD_H */
